Yes in a way.
I was already in esa support group, i applied for PiP and as soon as the assessment for PiP had been carried out a letter arrived for a re-assessment for ESA , i was awarded enhanced PiP.
I felt the same, i was already in support group, i was awarded enhanced Pip, What is the point of a re-assessment of esa a month later?, it has been established why re-establish the obvious?.
The esa forms were filled in by a disability advice service, i sent all the evidence including supporting letters i had sent for PiP a month earlier, and a copy of the pip assessment.
The DWP decided a paper based assessment would be carried out.
Sense prevailed and I am still in the esa support group.